Joint-level responses to counteract perturbations scale with perturbation magnitude and direction

Mark Vlutters; Edwin H.F. van Asseldonk; Herman van der Kooij

doi:10.1007/978-3-319-46532-6_23

Joint-level responses to counteract perturbations scale with perturbation magnitude and direction

Mark Vlutters^*, Edwin H.F. van Asseldonk, Herman van der Kooij

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

To realize a lower extremity exoskeleton that can provide balance assistance in a natural way, an understanding of human balance control is a necessity. In this study, we investigated how the angle, torque and power of the ankle, knee and hip joints changed in response to balance perturbations during walking. Nine healthy young adults walked on an instrumented treadmill and received pelvis perturbations of various magnitudes and directions at the instance of toe-off right. An open source musculoskeletal modeling package (OpenSim) was used to perform inverse kinematics and inverse dynamics. Subjects modulated the ankle torque in the (left) stance foot with the magnitude and direction of the perturbation. Also in gait phases following foot placement, subjects addressed ankle torques to mitigate the remaining effects of the perturbation. The results presented here support the use of ankle actuation in lower extremity orthoses for natural and cooperative balance control.

Original language	English
Title of host publication	Wearable Robotics: Challenges and Trends
Subtitle of host publication	Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain
Editors	Jose gonzalez-Vargas, Jaime Ibanez, Jose L. Contreras-Vidal, Herman van der Kooij, Jose Luis Pons
Publisher	Springer
Pages	139-142
Number of pages	4
Volume	16
ISBN (Electronic)	978-3-319-46532-6
ISBN (Print)	978-3-319-46531-9
DOIs	https://doi.org/10.1007/978-3-319-46532-6_23
Publication status	Published - 2017
Event	2nd International Symposium on Wearable Robotics, WeRob 2016 - La Granja, Spain Duration: 18 Oct 2016 → 21 Oct 2016 Conference number: 2 http://werob2016.org/

Publication series

Name	Biosystems and Biorobotics
Volume	16
ISSN (Print)	21953562
ISSN (Electronic)	21953570

Conference

Conference	2nd International Symposium on Wearable Robotics, WeRob 2016
Abbreviated title	WeRob
Country/Territory	Spain
City	La Granja
Period	18/10/16 → 21/10/16
Internet address	http://werob2016.org/

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10.1007/978-3-319-46532-6_23

Cite this

Vlutters, M., van Asseldonk, E. H. F., & van der Kooij, H. (2017). Joint-level responses to counteract perturbations scale with perturbation magnitude and direction. In J. gonzalez-Vargas, J. Ibanez, J. L. Contreras-Vidal, H. van der Kooij, & J. L. Pons (Eds.), Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain (Vol. 16, pp. 139-142). (Biosystems and Biorobotics; Vol. 16). Springer. https://doi.org/10.1007/978-3-319-46532-6_23

Vlutters, Mark ; van Asseldonk, Edwin H.F. ; van der Kooij, Herman. / Joint-level responses to counteract perturbations scale with perturbation magnitude and direction. Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. editor / Jose gonzalez-Vargas ; Jaime Ibanez ; Jose L. Contreras-Vidal ; Herman van der Kooij ; Jose Luis Pons. Vol. 16 Springer, 2017. pp. 139-142 (Biosystems and Biorobotics).

@inproceedings{fa3d152fdf7f41ee94cffbbab14c8d78,

title = "Joint-level responses to counteract perturbations scale with perturbation magnitude and direction",

abstract = "To realize a lower extremity exoskeleton that can provide balance assistance in a natural way, an understanding of human balance control is a necessity. In this study, we investigated how the angle, torque and power of the ankle, knee and hip joints changed in response to balance perturbations during walking. Nine healthy young adults walked on an instrumented treadmill and received pelvis perturbations of various magnitudes and directions at the instance of toe-off right. An open source musculoskeletal modeling package (OpenSim) was used to perform inverse kinematics and inverse dynamics. Subjects modulated the ankle torque in the (left) stance foot with the magnitude and direction of the perturbation. Also in gait phases following foot placement, subjects addressed ankle torques to mitigate the remaining effects of the perturbation. The results presented here support the use of ankle actuation in lower extremity orthoses for natural and cooperative balance control.",

author = "Mark Vlutters and {van Asseldonk}, {Edwin H.F.} and {van der Kooij}, Herman",

year = "2017",

doi = "10.1007/978-3-319-46532-6_23",

language = "English",

isbn = "978-3-319-46531-9",

volume = "16",

series = "Biosystems and Biorobotics",

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pages = "139--142",

editor = "Jose gonzalez-Vargas and Jaime Ibanez and Contreras-Vidal, {Jose L.} and {van der Kooij}, Herman and Pons, {Jose Luis}",

booktitle = "Wearable Robotics: Challenges and Trends",

address = "Germany",

note = "2nd International Symposium on Wearable Robotics, WeRob 2016, WeRob ; Conference date: 18-10-2016 Through 21-10-2016",

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Vlutters, M , van Asseldonk, EHF & van der Kooij, H 2017, Joint-level responses to counteract perturbations scale with perturbation magnitude and direction. in J gonzalez-Vargas, J Ibanez, JL Contreras-Vidal, H van der Kooij & JL Pons (eds), Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. vol. 16, Biosystems and Biorobotics, vol. 16, Springer, pp. 139-142, 2nd International Symposium on Wearable Robotics, WeRob 2016, La Granja, Spain, 18/10/16. https://doi.org/10.1007/978-3-319-46532-6_23

Joint-level responses to counteract perturbations scale with perturbation magnitude and direction. / Vlutters, Mark ; van Asseldonk, Edwin H.F.; van der Kooij, Herman.
Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. ed. / Jose gonzalez-Vargas; Jaime Ibanez; Jose L. Contreras-Vidal; Herman van der Kooij; Jose Luis Pons. Vol. 16 Springer, 2017. p. 139-142 (Biosystems and Biorobotics; Vol. 16).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - van Asseldonk, Edwin H.F.

AU - van der Kooij, Herman

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PY - 2017

Y1 - 2017

N2 - To realize a lower extremity exoskeleton that can provide balance assistance in a natural way, an understanding of human balance control is a necessity. In this study, we investigated how the angle, torque and power of the ankle, knee and hip joints changed in response to balance perturbations during walking. Nine healthy young adults walked on an instrumented treadmill and received pelvis perturbations of various magnitudes and directions at the instance of toe-off right. An open source musculoskeletal modeling package (OpenSim) was used to perform inverse kinematics and inverse dynamics. Subjects modulated the ankle torque in the (left) stance foot with the magnitude and direction of the perturbation. Also in gait phases following foot placement, subjects addressed ankle torques to mitigate the remaining effects of the perturbation. The results presented here support the use of ankle actuation in lower extremity orthoses for natural and cooperative balance control.

AB - To realize a lower extremity exoskeleton that can provide balance assistance in a natural way, an understanding of human balance control is a necessity. In this study, we investigated how the angle, torque and power of the ankle, knee and hip joints changed in response to balance perturbations during walking. Nine healthy young adults walked on an instrumented treadmill and received pelvis perturbations of various magnitudes and directions at the instance of toe-off right. An open source musculoskeletal modeling package (OpenSim) was used to perform inverse kinematics and inverse dynamics. Subjects modulated the ankle torque in the (left) stance foot with the magnitude and direction of the perturbation. Also in gait phases following foot placement, subjects addressed ankle torques to mitigate the remaining effects of the perturbation. The results presented here support the use of ankle actuation in lower extremity orthoses for natural and cooperative balance control.

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BT - Wearable Robotics: Challenges and Trends

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A2 - Ibanez, Jaime

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ER -

Vlutters M , van Asseldonk EHF , van der Kooij H. Joint-level responses to counteract perturbations scale with perturbation magnitude and direction. In gonzalez-Vargas J, Ibanez J, Contreras-Vidal JL, van der Kooij H, Pons JL, editors, Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. Vol. 16. Springer. 2017. p. 139-142. (Biosystems and Biorobotics). doi: 10.1007/978-3-319-46532-6_23

Joint-level responses to counteract perturbations scale with perturbation magnitude and direction

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